function [ R ] = CreerRotationDepuisAxeAngle( axe, angle )
% http://en.wikipedia.org/wiki/Rotation_matrix#Conversion_from_and_to_axis-angle
    c = cos(angle);
    s = sin(angle);
    C = 1 - c;
    x = axe(1);
    y = axe(2);
    z = axe(3);
    
    R = [ x*x*C+c    x*y*C-z*s  x*z*C+y*s  ;
          y*x*C+z*s  y*y*C+c    y*z*C-x*s  ;
          z*x*C-y*s  z*y*C+x*s  z*z*C+c   ];
end

